DiscreteKey.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/global_includes.h>
#include <gtsam/inference/Key.h>
 
#include <map>
#include <string>
#include <vector>
 
namespace gtsam {
 
  typedef std::pair<Key,size_t> DiscreteKey;
 
  struct DiscreteKeys: public std::vector<DiscreteKey> {
 
    DiscreteKeys() {
    }
 
    DiscreteKeys(const DiscreteKey& key) {
      push_back(key);
    }
 
    DiscreteKeys(const std::vector<DiscreteKey>& keys) :
      std::vector<DiscreteKey>(keys) {
    }
 
    GTSAM_EXPORT DiscreteKeys(const std::vector<int>& cs);
 
    GTSAM_EXPORT KeyVector indices() const;
 
    GTSAM_EXPORT std::map<Key,size_t> cardinalities() const;
 
    DiscreteKeys& operator&(const DiscreteKey& key) {
      push_back(key);
      return *this;
    }
  }; // DiscreteKeys
 
  GTSAM_EXPORT DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2);
}